version: 66.02
glider: 23
mission: 2
dive: 131
start: 9 25 107 0 44 14
data:
$ID,23
$MISSION,2
$DIVE,131
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$D_ABORT,1050
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,45
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,90
$COURSE_BIAS,0
$GLIDE_SLOPE,18
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51702
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0030006149
$HD_B,0.0123087
$HD_C,3.5261501e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.650002
$TGT_DEFAULT_LON,-122.8667
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-28937.293
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2610
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,208
$ROLL_MAX,3567
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,580
$VBD_MAX,3994
$C_VBD,3484
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-24.5345
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,15
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,3
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,2
$SMARTDEVICE1,5
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,16
$RAFOS_DEVICE,-1
$XPDR_DEVICE,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043036696
$SEABIRD_T_H,0.00062677584
$SEABIRD_T_I,2.2664151e-05
$SEABIRD_T_J,2.2667414e-06
$SEABIRD_C_G,-10.310682
$SEABIRD_C_H,1.1615626
$SEABIRD_C_I,-0.0017275931
$SEABIRD_C_J,0.00021877716
$GPS1,003827,4740.032,-12250.795,11,1.6,11,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-73.2
$GPS2,004251,4740.058,-12250.758,15,1.4,15,18.3
$SPEED_LIMITS,0.228,0.238
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.227,0.072
$KALMAN_X,6416.7,8.3,-88.7,-3606.1,63.2
$KALMAN_Y,6511.0,-72.9,13.3,-5940.1,58.4
$MHEAD_RNG_PITCHd_Wd,54.1,2340,-11.6,-7.407
$D_GRID,119
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.82,-88.0,0.0,0.0,0,65,0.00,0.00,-44.08,0.000,2,0.000,0.000,368,2170,2994
$GC,68,-0.82,-88.0,2.1,-3.1,7,123,11.62,2.42,-33.90,0.000,4,0.153,0.062,2424,3538,3843
$GC,334,-0.82,-88.0,12.5,-4.6,48,341,0.00,2.33,0.00,0.000,6,0.000,0.033,2425,2161,3846
$GC,406,-0.82,-88.0,13.9,-1.2,59,413,0.00,2.40,0.00,0.000,4,0.000,0.049,2425,3543,3846
$GC,492,-0.82,-88.0,15.5,-2.4,72,498,0.00,2.35,0.00,0.000,6,0.000,0.033,2424,2148,3847
$GC,564,-0.82,-88.0,17.2,-2.2,83,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2149,3847
$GC,635,-0.82,-88.0,19.6,-3.1,94,641,0.00,2.88,0.00,0.000,4,0.000,0.051,2424,728,3848
$GC,700,-0.82,-88.0,22.1,-4.1,101,705,0.00,2.75,0.00,0.000,6,0.000,0.030,2424,2143,3848
$GC,902,-0.82,-88.0,29.3,-3.6,117,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2142,3848
$GC,1093,-0.82,-88.0,35.2,-3.1,132,1097,0.00,2.88,0.00,0.000,4,0.000,0.051,2425,733,3848
$GC,1130,-0.82,-88.0,36.7,-4.2,134,1137,0.00,2.80,0.00,0.000,6,0.000,0.031,2424,2150,3848
$GC,1326,-0.82,-88.0,44.4,-3.7,150,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2150,3848
$GC,1517,-0.82,-88.0,52.1,-4.6,165,1521,0.00,2.90,0.00,0.000,4,0.000,0.051,2424,728,3848
$GC,1567,-0.82,-88.0,54.5,-4.6,168,1575,0.00,2.80,0.00,0.000,6,0.000,0.031,2424,2147,3848
$GC,1764,-0.82,-88.0,63.8,-4.8,184,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2146,3848
$GC,1954,-0.82,-88.0,71.0,-2.9,199,1959,0.00,2.88,0.00,0.000,4,0.000,0.051,2425,737,3848
$GC,1986,-0.82,-88.0,72.3,-4.0,201,1991,0.00,2.78,0.00,0.000,6,0.000,0.030,2425,2161,3848
$GC,2182,-0.82,-88.0,78.4,-3.6,216,2186,0.00,2.90,0.00,0.000,4,0.000,0.051,2425,738,3848
$GC,2227,-0.82,-88.0,80.2,-4.2,219,2232,0.00,2.78,0.00,0.000,6,0.000,0.031,2424,2156,3848
$GC,2423,-0.82,-88.0,89.6,-4.8,234,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2155,3848
$GC,2612,-0.82,-88.0,96.0,-2.9,249,2617,0.00,2.90,0.00,0.000,4,0.000,0.051,2425,729,3848
$GC,2676,-0.82,-88.0,98.7,-4.6,253,2684,0.00,2.83,0.00,0.000,6,0.000,0.031,2425,2155,3848
$STATE,2707,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2707,begin apogee
$GC,2712,-0.31,0.0,99.6,2.8,256,2783,0.57,0.00,68.38,0.752,6,0.084,0.000,2540,2020,3483
$STATE,2784,end apogee,CONTROL_FINISHED_OK
$STATE,2784,begin climb
$GC,2786,0.82,88.0,100.2,0.0,262,2860,1.17,2.88,66.60,0.735,4,0.067,0.054,2787,662,3124
$GC,2917,0.82,88.0,96.8,7.6,272,2925,0.00,2.78,0.00,0.000,6,0.000,0.030,2787,2046,3124
$GC,3114,0.82,88.0,81.8,7.6,288,3118,0.00,2.90,0.00,0.000,4,0.000,0.055,2786,653,3123
$GC,3145,0.82,88.0,79.1,8.8,290,3153,0.00,2.80,0.00,0.000,6,0.000,0.028,2787,2057,3123
$GC,3342,0.94,191.8,64.8,4.6,306,3428,0.12,3.00,77.70,0.708,4,0.053,0.059,2819,661,2701
$GC,3494,0.94,191.8,53.2,9.8,318,3498,0.00,2.78,0.00,0.000,6,0.000,0.030,2819,2056,2701
$GC,3689,0.94,191.8,35.7,8.8,333,3693,0.00,2.92,0.00,0.000,4,0.000,0.059,2819,663,2701
$GC,3773,0.94,191.8,27.5,9.7,339,3781,0.00,2.78,0.00,0.000,6,0.000,0.029,2819,2051,2700
$GC,3974,0.94,191.8,9.1,9.0,363,3981,0.00,2.92,0.00,0.000,4,0.000,0.058,2819,655,2700
$STATE,4071,end climb,SURFACE_DEPTH_REACHED
$STATE,4071,begin surface coast
$FINISH,1.4,1.019859
$STATE,4086,end surface coast,CONTROL_FINISHED_OK
$STATE,4086,begin surface
$SM_CCo,4108,79.53,0.657,1,0,2057,350.04
$SM_GC,1.29,0.00,0.00,79.53,0.000,0.000,0.657,368,2151,2057,-10.31,0.03,350.04
$IRIDIUM_FIX,4722.92,-12251.79,250907,030321
$TT8_MAMPS,0.026845
$HUMID,2153
$TCM_TEMP,19.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,90.6,37.0
$24V_AH,24.0,11.999
$10V_AH,10.2,4.979
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,24.700,72.475,212.675,79.525,0.000,37.640,34.068,111.729,1.750,0.000,0.000,17.316,719.833,2395.412,428.081,670.072,288.586,33.343,820.173,0.000,652.146,0.000,10.075
$DEVICE_MAMPS,152.633,62.127,751.660,656.552,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,256.934,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9592,380
$CFSIZE,260034560,254382080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250907,015531,4740.171,-12250.019,36,1.0,43,18.3